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Plane: make detection of impending takeoff more likely

This commit is contained in:
Paul Riseborough 2020-12-27 18:55:42 +11:00 committed by Andrew Tridgell
parent a1bde16abd
commit 39e1eb238d
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/servos.cpp
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@ -556,8 +556,8 @@ void Plane::set_servos_controlled(void)
// let EKF know to start GSF yaw estimator before takeoff movement starts so that yaw angle is better estimated
const float throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
if (!is_flying() && arming.is_armed()) {
bool throw_detected = sq(ahrs.get_accel_ef().x) + sq(ahrs.get_accel_ef().y) > sq(g.takeoff_throttle_min_accel);
if (arming.is_armed()) {
bool throw_detected = ahrs.get_accel().x - GRAVITY_MSS * ahrs.sin_pitch() > GRAVITY_MSS;
bool throttle_up_detected = throttle > aparm.throttle_cruise;
if (throw_detected || throttle_up_detected) {
plane.ahrs.setTakeoffExpected(true);